EP3060138B1 - Chirurgische werkzeugsysteme - Google Patents

Chirurgische werkzeugsysteme Download PDF

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Publication number
EP3060138B1
EP3060138B1 EP14856284.6A EP14856284A EP3060138B1 EP 3060138 B1 EP3060138 B1 EP 3060138B1 EP 14856284 A EP14856284 A EP 14856284A EP 3060138 B1 EP3060138 B1 EP 3060138B1
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EP
European Patent Office
Prior art keywords
surgical
guide tube
surgical instrument
robot system
sensor
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Application number
EP14856284.6A
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English (en)
French (fr)
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EP3060138A4 (de
EP3060138A1 (de
Inventor
Neil R. Crawford
Nicholas Theodore
Mitchell A. Foster
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Globus Medical Inc
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Globus Medical Inc
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Publication of EP3060138A4 publication Critical patent/EP3060138A4/de
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Definitions

  • the da Vinci® medical robot system (da Vinci® is a registered trademark of Intuitive Surgical) is a robot used in certain surgical applications.
  • the user controls manipulators that control a robotic actuator.
  • the system converts the surgeon's gross movements into micro-movements of the robotic actuator.
  • the da Vinci® system eliminates hand tremor and provides the user with the ability to work through a small opening, like many of the robots commercially available today, it is expensive, obtrusive, and the setup is cumbersome. Further, for procedures such as thoracolumbar pedicle screw insertion, these conventional methods are known to be error-prone and tedious.
  • WO 2012/018816 A2 describes a system for exchanging a surgical instrument during surgery, which detects the presence of the surgical instrument inside the guide tube.
  • WO 2011/109041 A1 describes a robotic system to guide a movable member and a tracking device configured to track the surgical tool coupled to the robotic arm and the patient's anatomy.
  • US 3 847 157 A describes describes a tube with a magnet strip along the length of the tube for sensing the location of the tube.
  • One of the characteristics of many of the current robots used in surgical applications which make them error prone is that autonomous movement and precise placement of a surgical instrument can be hindered by lack of mechanical feedback and/or loss of visual placement once the instrument is submerged within a portion of a patient.
  • Some embodiments include a detectable feature comprising a magnetically detectable feature capable of generating a magnetic flux field, and in some embodiments, the sensor is a position sensor capable of detecting the magnetic flux field. Some embodiments also include a position sensor configured and arranged to detect insertion into and movement of the surgical instrument in the guide tube by sensing the magnetically detectable feature. In some embodiments, the position sensor is a magnetic flux field sensor selected from a group consisting of a ferrite-based magnetic material, a rare-earth based magnetic material, an aluminum-nickel-cobalt based magnetic material, and mixtures thereof.
  • the guide tube includes at least three position sensors, and in some embodiments, the at least three position sensors are configured and arranged to sense a magnetic field flux from the longitudinal magnetic strip or the radial magnetic field strip or both.
  • the longitudinal position of the surgical instrument in the guide tube can be at least partially determined using a measurement of a magnetic field flux from the longitudinal magnetic strip. In other embodiments, a radial position of the surgical instrument in the guide tube can be at least partially determined using a measurement of a magnetic field flux from the radial magnetic strip.
  • Some embodiments include a detectable feature comprising an optically detectable feature, and at least one sensor comprising at least one optical sensor.
  • the optically detectable feature comprises a contrasting or high contrast marking distributed along at least a partial longitudinal length of the guided surgical tool assembly.
  • Some embodiments include at least one optical sensor comprising a light sensitive detector selected from a group consisting of a photodiode, a phototransistor, a fiber-optic sensor, a photo-multiplier, a CCD, a camera, or a combination thereof.
  • a light sensitive detector selected from a group consisting of a photodiode, a phototransistor, a fiber-optic sensor, a photo-multiplier, a CCD, a camera, or a combination thereof.
  • the longitudinal position of the surgical instrument in the guide tube can be at least partially determined by optically sensing light from the high contrast marking using the at least one optical sensor.
  • Some embodiments include an optically detectable feature comprising a graduated coating distributed along at least a partial longitudinal length of the guided surgical tool assembly.
  • the graduated coating comprises a graduated reflective coating.
  • FIGS. 1A-1B illustrate a surgical robot system 1 in accordance with one embodiment of the invention
  • FIG. 1C illustrates a portion of a surgical robot system 1 with control of the translation and orientation of the end-effectuator in accordance with another embodiment of the invention.
  • the surgical robot 15 can comprise a display 29 and a housing 27.
  • the display 29 can be attached to the surgical robot 15.
  • a display 29 can be detached from surgical robot 15, either within a surgical room with the surgical robot 15, or in a remote location.
  • the housing 27 can comprise a robot arm 23, and an end-effectuator 30 coupled to the robot arm 23 controlled by at least one conventional motor.
  • the end-effectuator 30 can comprise an instrument used to perform surgery on a patient 18 (such as for example the surgical instrument 35 depicted in FIGS. 3A-3B , 4A-4D , 6A , 7A , 7C , 8A-8B , 9 and 10 ).
  • the end-effectuator 30 can be coupled to the surgical instrument 35.
  • the term "end-effectuator” is used interchangeably with the term "effectuator element.”
  • the end-effectuator 30 can comprise any known structure for effecting the movement of the surgical instrument 35 in a desired manner.
  • FIG. 1C illustrates a portion of a surgical robot 15 with control of the translation and orientation of the end-effectuator in accordance with another embodiment of the invention.
  • some embodiments include a surgical robot system 1 capable of the utilization of a robot 15 with the ability of moving the end-effectuator 30 along x-, ⁇ -, and z-axes (see 66, 68, 70 in FIG. 1C ).
  • the x-axis 66 can be orthogonal to the ⁇ -axis 68 and z-axis 70
  • the ⁇ -axis 68 can be orthogonal to the x-axis 66 and z-axis 70
  • the z-axis 70 can be orthogonal to the x-axis 66 and the ⁇ -axis 68.
  • the robot 15 can be configured to effect movement of the end-effectuator 30 along one axis independently of the other axes.
  • the robot 15 can cause the end-effectuator 30 to move a given distance along the x-axis 66 without causing any substantial movement of the end-effectuator 30 along the ⁇ -axis 68 or z-axis 70.
  • substantially means a deviation of less than two degrees from an intended path.
  • the end-effectuator 30 can be configured for selective rotation about one or more of the x-axis 66, y-axis 68, and z-axis 70 (such that one or more of the Cardanic Euler Angles (e.g., roll, pitch, and/or yaw) associated with the end-effectuator 30 can be selectively controlled).
  • the end-effectuator 30 and/or surgical instrument 35 can be aligned with a selected orientation axis (labeled "Z Tube" in FIG. 1C ) that can be selectively varied and monitored by the robot system 1.
  • selective control of the translation and orientation of the end-effectuator 30 can permit performance of medical procedures with significantly improved accuracy compared to conventional robots that utilize, for example, a six degree of freedom robot arm 23 comprising only rotational axes.
  • a surgical robot system 1 as depicted in FIGS. 1A-1C can be used to operate on a patient, and the robot arm 23 that can be positioned above the body of the patient 18, with the end-effectuator 30 selectively angled relative to the z-axis toward the body of the patient 18.
  • the position of surgical instrument 35 can be dynamically updated so that surgical robot 15 can be aware of the location of surgical instrument 35 at all times during the procedure. Consequently, in some embodiments, the surgical robot 15 can move the surgical instrument 35 to the desired position quickly, with minimal damage to patient 18, and without any further assistance from a physician (unless the physician so desires). In some further embodiments, the surgical robot 15 can be configured to correct the path of surgical instrument 35 if the surgical instrument 35 strays from the selected, preplanned trajectory. In some embodiments, the surgical robot 15 can be configured to permit stoppage, modification, and/or manual control of the movement of the end-effectuator 30 and/or surgical instrument 35.
  • a physician or other user can operate the system 1, and has the option to stop, modify, or manually control the autonomous movement of end-effectuator 30 and/or surgical instrument 35.
  • Further details of the surgical robot system 1 including the control and movement of a surgical instrument 35 by the surgical robot 15 can be found in U.S. patent publication US 2013/0345718 A1 .
  • a guide tube 50 is used with a surgical instrument 35 to operate on a patient 18.
  • some embodiments include a guide tube 50 comprising a distal end 50 a and a proximal end 50 b .
  • tube is used to refer to somewhat hollow structures of any one or more desired cross-sectional shapes.
  • the surgical instrument 35 when the surgical instrument 35 is advanced into the tissue of the patient 18 with the assistance of a guide tube 50, the surgical instrument 35 can comprise a guide stop 52 that is configured to prevent the surgical instrument 35 from advancing when it reaches a predetermined amount of protrusion. For example, FIGS.
  • FIG. 3A-3B each illustrate a tool assembly 100 including a surgical instrument 35 having a guide stop 52 in accordance with one embodiment of the invention.
  • the instrument 35 is prevented from extending further.
  • the instrument 35 can be guided by (and at least partially surround) or contact a guide structure.
  • the robot 15 can periodically or substantially continuously monitor the protrusion distance, and in some embodiments, the distance can be displayed (e.g., such as on display 29).
  • protrusion distance can be substantially continuously monitored using a spring-loaded plunger 54 including a compressible spring-loaded mechanism 55 a and sensor pad 55 b that has a coupled wiper 56 (see for example FIGS. 4A-4D ).
  • the guide stop 52 on the surgical instrument 35 can be configured to contact the spring-loaded mechanism 55 well before it encounters the proximal end of the guide tube 50.
  • the distal end 35 a can approach the distal end 50 a of the guide tube ( FIG. 4B ).
  • the distal end 35 a can extend outwards away from the distal end 50 a of the guide tube (see FIG.
  • the tool assembly system 1000 can include a data input/output system including a sensor pad 55 b coupled to a wiper 56.
  • system 1000 comprising at least one processor 1010 coupled to a network interface 1040 including an application interface 1050.
  • the application interface 1050 is coupled to at least one operating system 1020 and at least one enterprise application 1030.
  • the at least one processor 1010 can send and receive data from at least the network interface 1040 and the application interface 1050.
  • the network interface 1040 can be coupled to at least one computer readable medium 1060 that in some embodiments can include data sources 1060 a and data storage 1060 b .
  • the surgical robot system 1 may be coupled to the tool assembly system 1000. In some other embodiments, the surgical robot system 1 may comprise the tool assembly system 1000.
  • the data input/output interface 1100 may be coupled directed to the display 29 (e.g., to directly display from one or more sensors), and in other embodiments, the data input/output interface 1100 may be coupled to the surgical robot system 1 or the display 29, or both.
  • the data input/output interface 1100 may include a conventional low voltage circuit coupled to one or more sensors 55 b , 56, 310, and 510.
  • the data input/output interface 1100 may be coupled to a conventional low voltage circuit coupled to one or more sensors 55 b , 56, 310, and 510.
  • the one or more sensors 55 b , 56, 310, and 510 may be powered by the data input/output interface through a conventional low voltage circuit.
  • the one or more sensors 55 b , 56, 310, and 510 may be powered through a conventional low voltage circuit and coupled to the data input/output interface.
  • the at least one processor 1010 can receive data from at least one data input/output interface 1100.
  • the data input/output interface 1100 can include at least the sensor pad 55 a and coupled wiper 56.
  • the wiper 56 moves across the position sensor pad 55 b , its linear position is sampled by the tool assembly system 1000 and may be processed using the at least one processor 1010.
  • a calculation of the distance by which the surgical instrument 35 protrudes past the distal end 50 a of the guide tube 50 may be processed substantially in real-time. For example, as shown in FIGS.
  • the wiper 56 can move toward the distal end 50 a of the guide tube and across the sensor pad 55b within the wiped region 58 (e.g., see the movement from FIG. 4B to FIG. 4C ). Further, as the surgical instrument 35 is moved further downwards toward the distal end 50 a of the guide tube 50, and the guide stop 52 contacts the guide tube 50 at the proximal end, the wiper 56 can move toward the distal end 50 a of the guide tube 50 and across the sensor pad 55 b toward the lower end of the wiped region 58 (see FIG. 4D ).
  • the tool assembly system 1000 can communicate the position of the wiper 56 and/or movement of the wiper 56 with respect to the sensor pad 55 b .
  • the surgical robot system 1 may comprise the tool assembly system 1000, and the data input/output interface 1100 may be coupled to the surgical robot system 1 to enable the surgical robot system 1 to read the wiper 56 position on the sensor pad 55 b , or movement of the wiper 56 with respect to the sensor pad 55 b .
  • the surgical instrument can comprise a drill bit 42.
  • Some embodiments include instruments 35 that enable the stop on a drill bit 42 to be manually adjusted with reference to markings 44 on the drill bit 42.
  • FIGS. 5A-5C each illustrate tools for manually adjusting a drill stop 46 with reference to drill bit 42 markings 44 in accordance with one embodiment of the invention.
  • FIGS. 5D-5F each illustrate tools for locking and holding a drill bit in a set position in accordance with one embodiment of the invention
  • FIGS. 5G-5H each illustrate methods for use of the tools as depicted in FIGS. 5A-5F with a robot end effectuator 30 coupled to a surgical robot system 1.
  • the drill bit 42 can include commercially available oppositely oriented one-way spring-loaded release mechanisms 48 a , 48 b on each end of the drill stop 46.
  • one-way release mechanisms prevent movement in one direction but allow free movement in the opposite direction.
  • the resting release 48 a on the left side of the stop 46 allows the drill bit 42 to move freely through the release 48 a from right to left but prevents movement of the drill bit 42 from left to right.
  • the release 48 b to the right of the stop 46 allows the drill bit 42 to move freely through the release 48 b from left to right but prevents movement from right to left.
  • the direction in which the release 48 a , 48 b is pulled is opposite to the direction in which movement of the drill stop 46 is allowed so that accidental pulling of one release 48 a , 48 b does not result in unintended movement of the drill stop 46.
  • pulling the release 48 a toward the left in FIG. 5B allows the drill stop 46 to be moved toward the right.
  • neither release mechanism 48 a , 48 b is pulled, the drill stop 46 will not move in either direction, even if bumped.
  • Some embodiments include the ability to lock and hold the drill bit 42 in a set position relative to the guide tube 50 in which it is housed.
  • the drill bit 42 can be locked by locking the drill stop 46 relative to the guide tube 50 using a locking mechanism.
  • FIGS. 5D-5H illustrates tools for locking and holding a drill bit 42 in a set position in accordance with one embodiment of the invention.
  • the locking mechanism 49 shown in FIG. 5F can comprise two clam shells 49 (shown in FIG. 5D ).
  • a drill bit 42 can be locked into position by assembling the clam shells around the drill stop 46 (shown in FIG. 5E ).
  • this feature allows the user to lock the drill bit 42 in a position such that the tip slightly protrudes past the end of the guide tube 50 (see FIGS. 5G and 5H ). In this position, the user can force the guide tube 50 to penetrate through soft tissues to force the guide tube 50 to contact bone (for example during a percutaneous spine screw insertion). Further details of the tools illustrated in FIGS. 5A-5G and described above can be found in U.S. patent publication US 2013/0345718 A1 .
  • the tool assembly system 1000 can include the data input/output interface 1100 with at least one position sensor 310.
  • the at least one processor 1010 can send and receive data from at least the network interface 1040 and the application interface 1050 and may receive data from the data input/output interface 1100 with at least one position sensor 310.
  • FIG. 6A illustrates a tool assembly 300 including a surgical instrument 35 having a sensor enabled guide stop 52 in accordance with the present invention.
  • the surgical instrument 35 can include a magnetic strip 320 extending along some portion of the longitudinal length of the instrument 35, and the surgical instrument 35 can include at least one position sensor 310.
  • the embodiment shown in FIG. 6A includes a magnetic strip 320 that extends from a region substantially immediately adjacent to the guide stop 52, and extending to approximately three quarters of the length of the surgical instrument 35.
  • the magnetic strip 320 may extend closer to or farther away from the distal end 35 a of the surgical instrument 35. As shown, in some embodiments, the magnetic strip 320 is positioned on the outer surface of the surgical instrument 35. However, in some other embodiments, the magnetic strip 320 can be positioned below the outer surface of the instrument 35 (i.e., the magnetic strip 320 may be embedded in the instrument 35). In some embodiments, the magnetic strip 320 comprises a thickness that is sufficient to retain adequate mechanical integrity. For example, in some embodiments, the magnetic strip 320 comprises a thickness that is sufficient to retain adequate durability during use, while having with enough magnetic field flux to be detected by the position sensor 310.
  • the magnetic strip 320 can comprise a thin, flexible, rigid or semi-rigid magnetic material with a thickness of between about about 0,025 mm and about 3.81 mm (0.001 inches and 0.15 inches). In some embodiments, the magnetic strip 320 may be thinner than 0.025 mm (0.001 inches). and in other embodiments, the magnetic strip 320 may be thicker than 3.81 mm (0.15 inches). In some embodiments, the magnetic strip 320 comprises a self-supporting tape or similar material that can be cut to size and adhered to the surgical instrument 35.
  • the magnetic strip 320 is formed on the surgical instrument 35 from a liquid or semi-liquid (e.g., magnetic paint that is applied to the surface of the instrument 35 in defined locations which then dries to form the magnetic strip 320).
  • the magnetic strip 320 comprises a ferrite-based magnetic material.
  • the magnetic strip 320 comprises a rare-earth based magnetic material (e.g., a neodymium-based permanent magnet).
  • the magnetic strip 320 comprises an alnico-based magnetic material (i.e., an aluminum-nickel-cobalt based magnetic material).
  • the magnetic strip 320 can comprise a thin, flexible, rigid or semi-rigid magnetic strip 320 that comprises a material selected from a group consisting of ferrite-based magnetic material, a neodymium-based permanent magnet, an alnico-based magnetic material, and mixtures thereof.
  • the magnetic strip 320 is formed on the surgical instrument 35 from a liquid or semi-liquid (e.g., magnetic paint) that comprises a material selected from a group consisting of ferrite-based magnetic material, a neodymium-based permanent magnet, an alnico-based magnetic material, and mixtures thereof.
  • the magnetic strip 320 can be embedded within the interior structure of the instrument 35. For example, it may be positioned in the core of the instrument 35. In other embodiments, if the instrument 35 is tubular, the magnetic strip 320 can be placed on the inside surface of the tubular orifice.
  • the tool assembly 300 can include the position sensor 310 coupled to the guide tube 51 a (see FIG. 6A ).
  • the position sensor 310 can be a Hall-effect sensor capable of varying an output voltage in response to a magnetic field detected from the magnetic strip 320.
  • the position sensor 310 can comprise a magnetic sense-coil, or magneto-resistive read-head.
  • an output signal is generated by the data input/output interface 1100.
  • an insertion of the surgical instrument 35 in the guide tube 51 a can be detected using the position sensor 310.
  • the magnetic strip 320 can include a variable magnetic field flux capable of being detected by the position sensor 310 as it moves with respect to the magnetic strip 320.
  • the magnetic field flux of the magnetic strip 320 can rise and fall periodically through at least a portion of the longitudinal length of the magnetic strip 320.
  • this movement can produce a varying an output voltage in response to a magnetic field detected from the magnetic strip 320 as it moves from a region of low magnetic field flux to a region of higher magnetic field flux.
  • magnetic strip 320 can comprise alternative arrangements of regions of higher and lower magnetic field flux strength capable of being detected by the position sensor 310 as it moves with respect to the magnetic strip 320.
  • the alternative arrangements of regions of higher and lower magnetic field flux strength can comprise a magnetic bar code capable of being detected by the magnetic strip 320 and processes using the at least one processor 1010 through the data input/output interface 1100.
  • the arrangements of regions of higher and lower magnetic field flux strength can comprise a magnetic bar code (depicted as the magnetically coded region 321 of the magnetic strip 320 shown in FIG. 6A ).
  • a surgical instrument 35 can include a magnetic strip 320 that includes a magnetically coded region 321 with at least a type code of the surgical instrument 35.
  • the surgical robot system 1 can include a safety protocol to perform a check of the surgical instrument 35 prior to its use in a surgical procedure.
  • an insertion of the surgical instrument 35 in the guide tube 51 a for example, can be detected using the position sensor 310 which can be capable of reading the magnetically coded region 321 within the magnetic strip 320 as it passes the sensor 310.
  • information about the instrument 35 that will be inserted into the guide tube 51 a can be stored magnetically and permanently or semi-permanently in the magnetic strip 320 before surgery. Then, during surgery, when the tool is introduced in the guide tube 51 a , the sensor 310 can read the magnetically coded region 321 of the strip 320 and detect data regarding the tool's diameter, length, shape, or other important information. These data can be automatically conveyed to the processor 1010 and displayed to the user via data input/output interface 1100.
  • FIG. 7A illustrates a surgical instrument 35 having a guide stop 52 in accordance with another embodiment of the invention.
  • the surgical instrument 35 can include three position sensors 310, substantially equally spaced on the surgical instrument 35.
  • an insertion of the surgical instrument 35 in the guide tube 51 a can be detected using the position sensor 310, and the movement of the surgical instrument 35 within a guide tube 51 a can be detected as it passes over the remaining position sensors (located approximately half-way down the length of the surgical instrument 35 and adjacent the distal end 35 a of the surgical instrument 35).
  • the tool assembly 400 can include an alternative guide tube 51 b including a longitudinal magnetic strip 420 and a radial magnetic strip 430.
  • tube is intended to cover circular and other shaped structures which may or may not form a complete circle or other enclosing structure.
  • FIG. 7B is a modified guide tube 51 b for use with the instrument 35 shown in FIG. 7A in accordance with one embodiment of the invention.
  • FIG. 7C shows the tool assembly 400 including the instrument 35 shown in FIG. 7A inserted within the modified guide tube 51 b shown in FIG. 7B in accordance with one embodiment of the invention.
  • an insertion of the surgical instrument 35 in the guide tube 51 b can be detected using the position sensor 310 using the longitudinal magnetic strip 420, and the movement of the surgical instrument 35 within a guide tube 51 b can be detected as it passes over the remaining position sensors (located approximately half-way down the length of the surgical instrument 35 and adjacent the distal end 35 a of the surgical instrument 35) using the longitudinal magnetic strip 420.
  • a rotational movement of the instrument within the guide tube 51 a can be detected using the radial magnetic strip 430 as it moves with respect to any one of the positions sensors 310.
  • the tool assembly system 1000 can include the data input/output interface 1100 with at least one position sensor 310.
  • the at least one processor 1010 can send and receive data from at least the network interface 1040 and the application interface 1050, and may receive data from the data input/output interface 1100 with at least one position sensor 310 through an interaction with either the longitudinal magnetic strip 420 or the radial magnetic strip 430. Therefore, in some embodiments, the surgical robot system 1 can detect at least the movement of the surgical instrument 35 longitudinally with respect the guide tube 51 b , and when the instrument 35 is twisting within the guide tube 51 b . In some other embodiments, the instrument 35 can be coupled to an exterior surface of a guide tube.
  • some embodiments include optical sensing of the movement of a surgical instrument 35 in a guide tube.
  • FIG. 8A illustrates a surgical instrument 35 having a guide stop 52 in accordance with another embodiment of the invention
  • FIG. 8B illustrates a tool assembly 500 including a surgical instrument 35 having a guide stop 52 inserted within a modified guide tube 51 c in accordance with another embodiment of the invention.
  • the surgical instrument 35 can include a plurality of high contrast markings 520 distributed along at least a partial longitudinal length of the instrument 35. In some other embodiments, the plurality of high contrast markings 520 may extend over substantially the entirety of the longitudinal length of the instrument 35.
  • the modified guide tube 51 c can include at least one optical sensor 510 capable of sensing at least one of the plurality of high contrast marking 520.
  • the at least one optical sensor 510 can be capable of sensing at least one of the plurality of high contrast marking 520.
  • the tool assembly system 1000 can include the data input/output interface 1100 coupled with at least one of plurality of high contrast marking 520.
  • the at least one processor 1010 can send and receive data from at least the network interface 1040 and the application interface 1050 and may receive data from the data input/output interface 1100 with at least one of the plurality of high contrast marking 520, through an interaction with the at least one optical sensor 510. Therefore, in some embodiments, the surgical robot system 1 can detect at least the movement of the surgical instrument 35 longitudinally with respect the guide tube 51 c as the optical sensor 510 detects at least one of the plurality of high contrast markings 520.
  • the optical sensor 510 can be a photodiode, a phototransistor, a fiber-optic sensor, a photo-multiplier, a CCD, a camera or a combination of those described.
  • the optical sensor 510 can detect ambient light reflected from the surgical instrument 35 including the plurality of high contrast marking 520.
  • a conventional light source e.g., an incandescent bulb or an LED light
  • the optical sensor 510 can detect light emitted by the light source, reflected from the surgical instrument 35 including the plurality of high contrast markings 520.
  • FIG. 9 illustrates a tool assembly 600 including a surgical instrument 35 having a guide stop 52 inserted within a modified guide tube 51 c in accordance with another embodiment of the invention.
  • the surgical instrument 35 can include an optically graduated coating 37.
  • the optically graduated coating 37 can include a graduation of color across at least a partial longitudinal length of the instrument 35.
  • the optically graduated coating 37 can include a graduation in light reflectivity across at least a partial longitudinal length of the instrument 35.
  • the optically graduated coating 37 can include a graduation in light reflectivity extending from the proximal end (shown as a substantially colorless region adjacent the guide stop 52 in FIG. 9 ) to a darker region adjacent the distal end 35 a .
  • the at least one optical sensor 510 can be capable of sensing the coating 37.
  • the tool assembly system 1000 can include the data input/output interface 1100 coupled with the coating 37.
  • the at least one processor 1010 can send and receive data from at least the network interface 1040 and the application interface 1050, and may receive data from the data input/output interface 1100 with at least one of the plurality of high contrast marking 520, through an interaction with the at least one optical sensor 510. Therefore, in some embodiments, the surgical robot system 1 can detect at least the movement of the surgical instrument 35 longitudinally with respect the guide tube 51 c as the optical sensor 510 detects the coating 37. For example, when the surgical instrument 35 is initially inserted into the guide tube 51 c , the optical sensor 510 may detect a low level of light due to the coating 37 comprising a dark color and/or a low reflectivity. As the surgical instrument 35 is further inserted into the guide tube 51 c , the optical sensor 510 may detect an increasing level of light due to the optical sensor 510 moving over a coating 37 comprising a gradually increasingly lighter color and/or a higher reflectivity
  • the robotic surgical system 1 can comprise a plurality of tracking markers 720 configured to track the movement of the robot arm 23, the end-effectuator 30, and/or the surgical instrument 35 in three dimensions. It should be appreciated that three dimensional positional information from tracking markers 720 can be used in conjunction with the one dimensional linear positional information from absolute or relative conventional linear encoders on each axis of the robot 15 to maintain a high degree of accuracy.
  • the plurality of tracking markers 720 can be mounted (or otherwise secured) thereon an outer surface of the robot 15, such as, for example and without limitation, on the base 25 of the robot 15, or the robot arm 23 (see for example FIG. 1B ).
  • the plurality of tracking markers 720 can be configured to track the movement of the robot 15 arm, the end-effectuator 30, and/or the surgical instrument 35.
  • the robotic surgical system 1 can utilize the tracking information to calculate the orientation and coordinates of the surgical instrument 35 based on encoder counts along the x-axis 66, y-axis 68, z-axis 70, the Z-tube axis 64, and the roll 62 and pitch 60 axes.
  • the plurality of tracking markers 720 can be positioned on the base 25 of the robot 15 spaced from the surgical field 17 to reduce the likelihood of being obscured by the surgeon, surgical tools, or other parts of the robot 15.
  • At least one tracking marker 720 of the plurality of tracking markers 720 can be mounted or otherwise secured to the end-effectuator 30 (see for example FIG. 1D ). Further embodiments, at least one optical marker of the plurality of optical tracking markers 720 can be positioned on the robot 15 between the base 25 of the robot 15 and the end-effectuator 30 instead of, or in addition to, the markers 720 on the base 25 of the robot 15.
  • the positioning of one or more tracking markers 720 on the end-effectuator 30 can maximize the accuracy of the positional measurements by serving to check or verify the end-effectuator 30 position (calculated from the positional information from the markers on the base 25 of the robot 15 and the encoder counts of the z 70, x 66, y 68, roll 62, pitch 60, and Z-tube 64 axes).
  • the at least one tracking marker 720 can be mounted to a portion of the robot 15 that effects movement of the end-effectuator 30 and/or surgical instrument 35 along the x-axis to enable the tracking marker 720 to move along the x-axis 66 as the end-effectuator 30 and surgical instrument 35 move along the x-axis 66 (see FIG. 1D ).
  • the placement of the tracking markers 720 as described can reduce the likelihood of a surgeon blocking the tracking marker 720 from the cameras or detection device, or the tracking marker 720 becoming an obstruction to surgery.
  • the position of the end-effectuator 30 can be very accurately determined. For example, in some embodiments, without requiring knowledge of the counts of axis encoders for the z-axis 70 (which is between the x-axis 66 and the base 25), knowing only the position of the markers 720 on the x-axis 66 and the counts of encoders on the y axis 68, roll axis 62, pitch 60, and Z-tube axes 64 can enable computation of the position of the end-effectuator 30.
  • the placement of markers 720 on any intermediate axis of the robot 15 can permit the exact position of the end-effectuator 30 to be calculated based on location of such markers 720 and counts of encoders on axes (66, 62, 60, 64) between the markers 720 and the end-effectuator 30.
  • Further details of the surgical robot system 1 including the control, movement and tracking of the surgical robot 15 and of a surgical instrument 35 can be found in U.S. patent publication US 2013/0345718 A1 .
  • markers 725 coupled to the surgical instrument 35.
  • the markers 720, 725 can comprise conventional light-emitting diodes or an Optotrak® diode or reflective Polaris sphere capable of being tracked using a commercially available infrared optical tracking system such as Optotrak®.
  • Optotrak® is a registered trademark of Northern Digital Inc., Waterloo, Ontario, Canada.
  • light emitted from and/or reflected by the markers 720, 725 can be read by cameras 8200 used to monitor the location and movement of the robot 15 (see for example the camera 8200 mounted on the camera arm 8210 and capable of movement through camera arm joint 8210 a and camera arm joint 8210 b shown in FIG. 2 ).
  • the markers 720, 725 can comprise a radio-frequency and/or electromagnetic reflector or transceiver and the camera 8200 can include or be replaced by a radio-frequency and/or electromagnetic transceiver.
  • FIG. 10 illustrates a tool assembly 900 including a surgical instrument 35 having at least one tracking marker 725 in accordance with the present invention.
  • a single marker 725 can be adequate to determine the linear position of the instrument 35 within the guide tube 50 if the guide tube 50 is tracked with a tracking array 690.
  • the marker's position in space relative to the guide tube 50 can provide information about both the radial orientation and longitudinal position of the instrument 35 within the guide tube 50.
  • a plurality of markers 725 can be used to determine the linear position of the instrument 35 within the guide tube 50 if the guide tube 50 is tracked with a tracking array 690.

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Claims (15)

  1. Chirurgisches Robotersystem, umfassend:
    - eine Anzeige (29);
    - ein Gehäuse (27);
    - einen Arm (23);
    - einen End-Effektuator (30), der mit dem Arm (23) verbunden ist, und
    - eine geführte chirurgische Werkzeuganordnung (35; 300), die mit dem Arm (23) verbunden ist, wobei die geführte chirurgische Werkzeuganordnung umfasst:
    - ein Führungsrohr (50) mit zumindest einem Sensor (55b, 56, 310, 510), der am Führungsrohr (50) angeordnet ist;
    - ein chirurgisches Instrument (15, 35), das zum Aufnehmen im Führungsrohr (50) konfiguriert ist, wobei das chirurgische Instrument zumindest ein erfassbares Merkmal umfasst; und wobei das zumindest eine erfassbare Merkmal ein Magnetstreifen (320) ist, der sich in longitudinaler Richtung entlang einer Länge des chirurgischen Instruments (15, 35) erstreckt;
    - wobei der zumindest eine Sensor zum Erfassen des zumindest einen erfassbaren Merkmals konfiguriert und angeordnet ist, wenn sich das chirurgische Instrument (15, 35) im Innern des Führungsrohrs (50) befindet, und
    - wobei das System ferner eine Vielzahl von Verfolgungsmarkierungen (720) umfasst, die zum Verfolgen der Bewegung des Roboterarms (23) des End-Effektuators (30) und/oder des chirurgischen Instruments (35) in drei Dimensionen konfiguriert sind;
    - die zumindest eine Verfolgungsmarkierung (720) der Vielzahl von Verfolgungsmarkierungen (720) am End-Effektuator (30) zum Maximieren der Präzision der Positionsmessungen positioniert ist.
  2. Chirurgisches Robotersystem nach Anspruch 1, wobei das erfassbare Merkmal ein magnetisch erfassbares Merkmal umfasst, das zum Erzeugen eines magnetischen Flussfelds imstande ist; und wobei der Sensor ein Positionssensor (310) ist, der zum Erfassen des Magnetflussfelds imstande ist.
  3. Chirurgisches Robotersystem nach Anspruch 2, wobei der Positionssensor (310) ein Magnetflussfeldsensor ist, der aus einer Gruppe, bestehend aus einem Magnetmaterial basierend auf Ferrit, einem Magnetmaterial basierend auf seltenen Erden, einem Magnetmaterial basierend auf Aluminium-Nickel-Kobalt und Gemischen davon, ausgewählt ist.
  4. Chirurgisches Robotersystem nach Anspruch 2, wobei der Positionssensor (310) zum Erfassen des Einführens und Bewegens des chirurgischen Instruments im Führungsrohr durch Erfassen des magnetisch erfassbaren Merkmals konfiguriert und angeordnet ist.
  5. Chirurgisches Robotersystem nach Anspruch 1, wobei das erfassbare Merkmal zumindest einen longitudinalen Magnetstreifen (320; 420) und zumindest einen radialen Magnetstreifen (430) umfasst.
  6. Chirurgisches Robotersystem nach Anspruch 5, wobei das Führungsrohr (50) zumindest drei Positionssensoren umfasst.
  7. Chirurgisches Robotersystem nach Anspruch 6, wobei die zumindest drei Positionssensoren zum Erfassen eines Magnetfeldflusses vom longitudinalen Magnetstreifen (320; 420) oder dem radialen Magnetfeldstreifen (430) oder beiden konfiguriert und angeordnet sind.
  8. Chirurgisches Robotersystem nach Anspruch 7, wobei eine longitudinale Position des chirurgischen Instruments im Führungsrohr zumindest teilweise unter Verwendung einer Messung eines Magnetfeldflusses vom longitudinalen Magnetstreifen ermittelbar ist.
  9. Chirurgisches Robotersystem nach Anspruch 7, wobei eine radiale Position des chirurgischen Instruments im Führungsrohr zumindest teilweise unter Verwendung einer Messung eines Magnetfeldflusses vom radialen Magnetstreifen ermittelbar ist.
  10. Chirurgisches Robotersystem nach Anspruch 1, wobei das erfassbare Merkmal ein optisch erfassbares Merkmal umfasst; und wobei der zumindest eine Sensor zumindest einen optischen Sensor (510) umfasst.
  11. Chirurgisches Robotersystem nach Anspruch 10, wobei das optisch erfassbare Merkmal eine kontrastreiche Markierung umfasst, die entlang zumindest einer partiellen longitudinalen Länge der geführten chirurgischen Werkzeuganordnung verteilt ist.
  12. Chirurgisches Robotersystem nach Anspruch 11, wobei der zumindest eine optische Sensor einen lichtempfindlichen Detektor umfasst, der aus einer Gruppe, bestehend aus einer Fotodiode, einem Fototransistor, einem faseroptischen Sensor, einem Fotovervielfacher, einem CCD, einer Kamera oder einer Kombination davon, ausgewählt ist.
  13. Chirurgisches Robotersystem nach Anspruch 11, wobei eine longitudinale Position des chirurgischen Instruments im Führungsrohr zumindest teilweise durch optisches Erfassen von Licht von der kontrastreichen Markierung unter Verwendung des zumindest einen optischen Sensors ermittelbar ist.
  14. Chirurgisches Robotersystem nach Anspruch 10, wobei das optisch erfassbare Merkmal eine abgestufte Beschichtung umfasst, die entlang zumindest einer partiellen longitudinalen Länge der geführten chirurgischen Werkzeuganordnung verteilt ist.
  15. Chirurgisches Robotersystem nach Anspruch 14, wobei die abgestufte Beschichtung eine abgestufte reflektierende Beschichtung umfasst.
EP14856284.6A 2013-03-15 2014-10-24 Chirurgische werkzeugsysteme Active EP3060138B1 (de)

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